• 한국전문물리치료학회지
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• 제18권2호
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• pp.60-66
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• 2011

Foot posture is important in the development of the musculoskeletal structure in the lower limbs because it can change the mechanical alignment. Although foot orthotics are widely used for the correction of malalignments in the lower extremities, the biomechanical effects of wedges have not yet been cleared. The aim of this study was to investigate whether medial wedges affect the electromyographic (EMG) activity of the knee and hip joints in healthy adults that are performing one leg standing. Seventeen healthy volunteers performed the one leg standing under two foot conditions: A level surface, and a $15^{\circ}$ medial wedge. The subjects' EMG data for the gluteus maximus (Gmax), gluteus medius (Gmed), tensor fasciae latae (TFL), biceps femoris (BF), vastus lateralis (VL), and vastus medialis oblique (VMO) were recorded, along with the surface EMG, and all were analyzed. The EMG activity of the Gmed and TFL had significantly decreased under the medial wedge condition during one leg standing. Further study is needed in order to investigate whether medial wedges influence the EMG activity and kinematic data of the knee and hip joints as well as the ankle joints in adults with flexible flatfoot, while they are performing one leg standing.

• Journal of the Korean Wood Science and Technology
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• 제19권1호
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• pp.22-30
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• 1991

This study was carried out to determine the Joint characteristic of L-type specimens. L-type specimens were made of two kinds uf solid woods(Antiaris, Sepetir) and three kinds of wood based materials(plywood, particleboard, medium density fiberboard). They were constructed with PVC anchor and screw, and were discussed with joint strength and stiffness coefficients. The obtained results were as follows: 1. Bending strength showed very high increasing rate from one to three used PVC anchor and screw but was a little rise from three to four used PVC anchor and screw in solid wood. However. in wood based materials, it was unchanged without increasing rate or slight decreased from three to four used PVC anchor and screw. 2. The stiffness coefficients, or Z-values, were in the range from $4.704\times10^{-4}$ to $1.864\times10^{-3}$(rad/kgf-cm). They showed $10^{-3}$ level in one PVC anchor and screw but $10^{-4}$ level in two, three. four PVC anchor and screw. Accordingly, they indicated flexible joints in one PVC anchor and screw and relatively stable joints in two, three. four PVC anchor and screw. 3. Measured ultimate bending moments were 258.70kgf-cm in plywood and 142.68kgf-cm in medium density fiberboard. 4. Comparing with dowel joint. the joint strength used PVC anchor screw was inferior to 8mm and 10mm dowel diameter but differ little from 6mm dowel diameter.

• 마이크로전자및패키징학회지
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• 제25권2호
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• pp.25-30
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• 2018

Sn-Pb솔더는 그동안 자동차 전장품에서 많이 사용되어 왔다. 그러나 최근에 환경과 인체에 대한 유해성 때문에 end-of-life vehicle (ELV)과 같은 국제 환경 규제로 인하여 Pb의 사용이 금지되었다. 이러한 이유로 자동차 전장품을 위한 Pb-free 솔더링에 관한 많은 연구들이 보고 되어 왔다. 한편, 자동차의 연료 효율성과 공간 활용을 위하여 유연성과 경량의 특성을 가지는 플렉시블 기판이 자동차 전장품에 사용되고 있다. 자동차 전장품에 대한 Pb-free 솔더 접합부 특성에 관한 연구들이 많이 진행되었음에도 불구하고 자동차의 사용 환경을 고려한 플렉시블 기판 솔더 접합부에 대한 신뢰성 특성에 관한 연구는 아직 부족한 실정이다. 본 연구에서는 organic solderability preservative (OSP) 및 electroless nickel immersion gold (ENIG) 표면처리 된 플렉시블 기판 위 Sn3.0Ag0.5Cu, Sn0.7Cu, Sn0.5Cu0.01Al(Si) 세 가지 Pb-free 솔더 접합부에 대한 특성을 보고 하였다. 솔더 조성과 기판 표면처리에 따른 접합부의 특성 및 신뢰성을 비교 평가 하기 위하여 인장 강도 시험, 열 충격 시험과 반복 굽힘 시험을 진행 하고 그 결과를 분석하였다. OSP 표면처리 된 기판 접합부에 대한 반복 굽힘 시험 결과 세 종류의 솔더 접합부 모두 파괴는 솔더 내부에서 일어 났으며 Sn3.0Ag0.5Cu 솔더의 접합부에서 반복 굽힘 수명이 가장 길게 나타났다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 봄 학술발표회 논문집
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• pp.241-248
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• 1999

The existing bridge with deck joint has many problems during construction and maintenance. To overcome these difficulties, an integral bridge, which is defined as the practice of constructing bridges without deck joints, is proposed in this study. A test bridge with 3 spans of PC beam was selected to verify the function of the bridge and is under construction. Characteristics of integral bridge are followings: $\circled1$ Flexible H-piles under the abutment are installed to accommodate thermal movements of the superstructures of bridge. $\circled2$ PC beam of the superstructure and the abutment are integrated. $\circled3$ The existing approach and relief slabs are applied to minimize the stress transfer occurred from the bridge deck to the pavement. $\circled4$ A cyclic control joint is installed between approach and relief slabs to absorb the thermal movement. $\circled5$ It is used a dual direction bearing which is cheaper than single direction bearing and has a good workability as well. It is also installed a shear block on the top of pier coping to protect the lateral movement caused by temperature change and earthquake.

• 로봇학회논문지
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• 제3권4호
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• pp.315-322
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• 2008

A new soft finger mechanism using a spring as a backbone is proposed in this work. It is a 4 DOF mechanism that consists of a spring and 3 cylinders, which behave like joints with 3 up-and-down rotations and 1 left-and-right rotation. To control each joint, cylinders have small holes in their cross-sectional areas, and wires of different length are penetrated into these holes. We can control each joint by pulling the corresponding wire. The forward kinematics is solved by using the geometry of mechanism. And the relationship (Jacobian) between the linear velocity of the wires and the joint angular rate is obtained. A virtual simulator is developed to test the validity of the kinematic model. In the experiment, first, the position control is conducted by tracking a given trajectory. Second, to verify the flexibility and safety, we show that the soft finger deflects in a safe manner, in spite of the collision with environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2725-2730
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• 2003

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

• 한국정밀공학회지
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• 제9권2호
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• pp.92-100
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• 1992

플렉시블한 관절을 가지고 있는 로보트에 대하여 계단(step) 혹은 경사(ramp) 함수로 기준입력이 주어졌을 때, 모델의 불확실성이나 외란 아래에서 추적오차가 없는 디지찰 제어기법을 제시하고 실제로 실험을 통하여 제어기를 MC 68000으로 구현함으로써 제안한 제어 알고리즘의 유용성을 보였다. 제어기 설계에 있 어서 고려한 사항들은 비선형 마찰력, 중력에 의한 외란, 구동기와 부하사이의 뒤틀림 스프링 효과, 구리고 측 정할 수 없는 상태변수들이다. 또한 미분불가능한 쿨롱마찰로 인하여 전체 시스템이 이산/연속 혼성 시스템이 되어 출력에서 나타나는 리미트 싸이클을 해석/추정하기 위하여 혼성 시스템에서의 기술함수(Describing Function) 법을 제시하였다.

• 대한기계학회논문집
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• 제18권11호
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• pp.3066-3074
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• 1994

This paper addresses the residual vibration problem of robots due to joint flexibility excited by fast accelerations, which has not been easily solved with conventional closed loop controllers. In this paper, an open loop input shaping technique, proposed by singer, has been applied to a 3 DOF robot with joint flexibility. In conjunction to the technique, a closed loop controller based on time-delay controller was also used. The results of simulations and experiments showed that the technique is quite effective for suppressing the residual vibration.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.328-333
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• 2002

When vehicle travelling along the track which has irregularity such as vertical profile, dynamic forces arise at the Wheel/Rail contact patch by wheel/rail interaction. In particular short wavelength irregularities on dipped joint and small stiffness of connecting rail bring about intense wheel/rail dynamic effects at higher speed. In the paper, a new model for dipped joint rail is developed to study dynamic behavior of track. A cusp behavior on dipped joint was defined by its amplitude and decay factor, which was presented by FRA track classes. The result of case study are presented, which show wheel rail contact force in each track classes, train operation speed and bending flexible rigidity ratio of fishplates which are connecting the rail.

• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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• pp.22-31
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• 1999

In this paper, a robust observer design method for nonlinear multi input multi-output(MINO) plants is presented. This method enables the extension of the time delay observer (TDO) for nonlinear SISO plants in the phase variable form to MIMO plants. The designed TDO reconstructs the states of the plant expressed in the generalized observability canonical form (GOBCF), yet requiring neither the transformation of a plant, nor the real time computation coordinates, the observer turned out to be computationally efficient and easy to design for nonlinear MIMO plants. In a simulation of a two-link manipulator with flexible joints, the control performances using TDO appeared to be similar to those using actual states and superior to those using numerical differentiation. Finally, in an experiment with a robot, it was confirmed that the TDO reconstructs the states reliability and TDO can be effectively used in a real closed-loop system.